Walking mechanism of mini waterproof hanging rail type inspection robot

Abstract

The invention discloses a mini waterproof hanging rail type inspection robot walking mechanism which comprises a hanging rail arranged on a working path of an inspection robot and a base plate used for installing the inspection robot. At least two guide devices, a guide wheel fixing device is installed at the bottom end of the base plate, a limiting steering gear is installed on the outer side of the guide wheel fixing device in a sleeving mode, and a guide wheel shell is arranged on the outer side of a guide wheel in a sleeving mode; the driving device comprises a driving shell, a waterproof motor, a speed reducer and a motor control box, the motor control box is installed at the top of the driving shell, and the waterproof motor and the speed reducer are installed in the driving shell; the suspension device is installed at the end, away from the driving shell, of the interior of the shell. The suspension device comprises two symmetrically-arranged suspension arms, two symmetrically-arranged springs and damping rubber. The driving wheel assembly is mounted at one end of the suspension device, and the driving wheel assembly is used for walking of the inspection robot; and the equipment stability and reliability of the inspection robot in a complex environment are optimized.

Description

Technical Field

[0001] The invention relates to the technical field of inspection robots, in particular to a mini waterproof rail-mounted inspection robot walking mechanism. Background Art

[0002] With the continuous advancement of industrial automation and intelligence, the importance of inspection work in many fields such as mining, underground urban pipe corridors, power warehouses, high and low voltage distribution rooms, etc. has become increasingly prominent. The rail-mounted inspection robot has become a key equipment to ensure the safe operation of facilities in these special environments and improve the efficiency of inspection. In the mining field, the underground environment is complex and harsh, with high humidity, dust and possible water accumulation, which puts extremely high demands on the reliability and stability of inspection equipment. The waterproof sealing performance of the traditional rail-mounted inspection robot walking mechanism gradually decreases during long-term operation, and the connection between the track and the car body is easily corroded by water vapor, resulting in damage to the internal electrical components, affecting the normal operation of the robot, and may pose a potential threat to mining production safety. In the underground urban pipe corridor, although it is relatively closed, due to the leakage of various pipes or the generation of condensed water, the environmental humidity is high and the space of the pipe corridor is limited. The walking mechanism of the existing hanging rail inspection robot is often difficult to balance between miniaturization design and functional integrity. For example, when reducing the size, the driving power or shock absorption performance may be sacrificed, resulting in insufficient stability when running on the corridor track, and the inability to accurately detect various facilities in the corridor. There are also deficiencies in waterproofing, and it is easy to malfunction due to water vapor intrusion. The power warehouse and high and low voltage distribution room have extremely strict requirements on the safety and stability of equipment, and the space is relatively narrow. The walking mechanism of the existing hanging rail inspection robot is lacking in adapting to different specifications of power rails and maintaining good running stability. When the track is slightly deformed or the surface is uneven, the robot's walking mechanism may become stuck or vibrate excessively, affecting the inspection quality of power equipment. At the same time, if its waterproof performance does not meet the standards, it may cause electrical accidents and endanger the normal operation of the power system.

[0003] To sum up, the existing rail-mounted inspection robot walking mechanism has many shortcomings in terms of waterproof performance, track adaptability, space utilization and functional balance, and it is difficult to meet the needs of inspection tasks in increasingly complex environments. Therefore, a new mini waterproof rail-mounted inspection robot walking mechanism has become a problem that technical personnel in this field urgently need to solve. Summary of the invention

[0004] The present application provides a mini waterproof rail-mounted inspection robot walking mechanism, comprising:

[0005] A hanging rail is arranged on the working path of the inspection robot, and the hanging rail is used for the inspection robot to walk on the specified road;

[0006] A base plate, used for installing the inspection robot, wherein a signal receiver component is also arranged on the bottom of the base plate;

[0007] At least two guide devices are installed at the bottom end of the base plate, the guide devices are used to guide the walking direction of the inspection robot, the guide devices include a plurality of symmetrically arranged guide wheels, guide wheel housings, limit deflectors and guide wheel holders, the guide wheel holder is installed at the bottom end of the base plate, the limit deflector is sleeved and installed on the outside of the guide wheel holder, the guide wheels are installed on both sides of the limit deflector, and the guide wheels are rotatably connected to the limit deflectors, the guide wheel housing is sleeved on the outside of the guide wheels, and the guide wheel housing is fixedly connected to the outsides of both ends of the limit deflector;

[0008] A housing is arranged on the upper part of the substrate, wherein a driving device, a battery PACK box and a suspension device are arranged inside the housing;

[0009] The driving device comprises a driving housing, a waterproof motor, a reducer and a motor control box, wherein the driving housing is mounted at one end inside the housing, the motor control box is mounted on the top of the driving housing, the waterproof motor and the reducer are mounted inside the driving housing, and the motor control box is connected to the waterproof motor;

[0010] The suspension device is installed inside the shell at one end away from the drive shell, and the suspension device includes two symmetrically arranged suspension arms, two symmetrically arranged springs and shock-absorbing rubber, one end of the spring is connected to the suspension arm, and the other end is connected to the shock-absorbing rubber, and the shock-absorbing rubber is installed inside the shell, one end of the suspension arm is connected to the spring, and the other end is extended to the outside of the substrate, and the two symmetrically arranged suspension arms form a symmetrical area, so that the inspection robot is placed at the central axis position of the symmetrical area;

[0011] A driving wheel assembly is mounted at one end of the suspension device, and the driving wheel assembly is used for the inspection robot to walk;

[0012] A pan / tilt head is installed at the upper end of the shell, and the pan / tilt head is used to provide a camera device.

[0013] Optionally, the waterproof motor and the reducer are connected via a waterproof coupling, and a waterproof packaging treatment is provided on the outside of the waterproof motor.

[0014] Optionally, the motor control box is connected to the waterproof motor via a waterproof cable, electronic components of a drive circuit are arranged inside the motor control box, and a waterproof coating is sprayed on the outside of the motor control box.

[0015] Optionally, the signal receiver assembly includes a signal receiver, a connector and a base plate, wherein the base plate is connected to the bottom of the substrate, and the base plate is disposed at one end of the connector and the signal receiver is disposed at the other end.

[0016] Optionally, a group of relatively inner openings of the guide wheel housings are symmetrically arranged, so that a portion of the tire of the guide wheel extends out of a symmetrical position to travel under the clamping of the hanging rail.

[0017] Optionally, the guide wheel is a non-slip polyurethane rubber-coated wheel, the guide wheel is connected to the limit steering gear by a rotating shaft, a sealing ring is installed on the shaft end of the rotating shaft, and a rubber sealing ring is arranged inside the wheel hub of the guide wheel.

[0018] Optionally, the shell connection portion of the guide wheel housing is fastened with sealing strips and waterproof screws.

[0019] Optionally, a spring fixing frame is further provided on the suspension device, and the spring fixing frame is used to install an elastic track supporting the spring. One end of the spring fixing frame is connected to the inner side of the substrate, and the other end is connected to the shock-absorbing rubber. The spring fixing frame is sleeved on the outside of the spring, and the driving wheel assembly is installed on the side end of the spring fixing frame.

[0020] Optionally, the driving wheel assembly includes a driving wheel, a driving wheel motor and a driving wheel fixing frame, the driving wheel motor is installed inside the driving wheel fixing frame, and the shaft inside the driving wheel motor is connected to the driving wheel to drive the driving wheel to rotate, the driving wheel is arranged on one side of the spring fixing frame, and the driving wheel fixing frame is installed at an end away from the spring fixing frame.

[0021] The beneficial effects of this application are:

[0022] The at least two guide devices provided in the present application cooperate with each other, and a limit steering device is provided between the symmetrically arranged guide wheels to make the steering of the guide wheels smooth, and the guide wheels and the driving wheel assembly cooperate, by connecting the driving wheel to the suspension device, and arranging springs and shock-absorbing rubber on the suspension device, so that the driving wheel and the guide wheel can reduce bumps during movement and tend to be stable, and the driving wheel and the guide wheel can be subjected to the force of the spring to form a certain arc when the track climbs and breaks down, so that the inspection robot can stably pass through the climbing area and the downhill area, wherein, when the guide wheel needs to rotate a certain angle, the limit steering device provided between the guide wheels is used to make the guide wheel move stably inside the curved area. In summary, the walking mechanism of the inspection robot provided in the present application can maintain good track grasping performance and operation stability, reduce slipping and jamming, improve the continuity and accuracy of inspection operations, and reduce downtime and maintenance time caused by track problems; and the springs, shock-absorbing rubber and guide wheels on the suspension device effectively absorb vibrations and impacts during track operation to ensure smooth operation of the robot. This is not only conducive to high-precision inspections in places with limited space such as high and low voltage distribution rooms, but also can reduce damage to internal precision electrical components and testing equipment due to vibration, and improve the accuracy and reliability of detection data.

[0023] The present application also sprays a waterproof coating on the housing, motor and other parts, and installs a sealing ring between the connecting shafts for waterproofing. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the inspection robot and the hanging rail in combination;

[0025] Figure 2 This is a schematic diagram of the structure of the inspection robot guide device;

[0026] Figure 3 This is a schematic diagram of the structure of the driving device of the inspection robot;

[0027] Figure 4 Schematic diagram of the cross-section structure of the inspection robot

[0028] In the figure: 1. hanging rail; 2. base plate; 3. signal receiver assembly; 30. signal receiver; 31. connector; 32. bottom plate; 4. guide device; 5. guide wheel; 6. guide wheel housing; 7. limit steering device; 8. guide wheel holder; 9. housing; 10. drive device; 11. suspension device; 12. drive housing; 13. motor control box; 14. suspension arm; 15. spring; 16. shock-absorbing rubber; 17. drive wheel assembly; 18. spring fixing frame; 19. drive wheel; 20. drive wheel fixing frame; 21. battery PACK box; 22. battery PACK box; 23. pan / tilt. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] Please refer to Figures 1 to 4 The modular design of the walking mechanism of the inspection robot provided by the present invention includes a driving device, a suspension device, a sealing protection module and a walking guide module. Each module is independent of each other but closely cooperates with each other, which is convenient for assembly, maintenance and upgrading.

[0031] Please refer to Figures 1 to 4 As shown, the present invention provides a mini waterproof rail-mounted inspection robot walking mechanism, comprising:

[0032] The hanging rail 1 is arranged on the working path of the inspection robot. The hanging rail 1 is used for the inspection robot to walk on the specified road. In this embodiment, an elliptical hanging rail 1 is provided. The hanging rail 1 can be arranged according to the actual use path of the inspection robot. The hanging rail 1 can protect the climbing area, the downhill area, the turning area and the straight area. It can be installed on the wall or suspended. The hanging rail 1 can be welded or screwed when installed.

[0033] A base plate 2 is used to install the inspection robot, and a signal receiver component 3 is also arranged on the bottom of the base plate 2;

[0034] The signal receiver assembly 3 includes a signal receiver 30 , a connector 31 and a bottom plate 32 . The bottom plate 32 is connected to the bottom of the substrate 2 . The bottom plate 32 is disposed at one end of the connector 31 , and the signal receiver 3 is disposed at the other end.

[0035] At least two guide devices 4 are installed at the bottom end of the base plate 2. The guide devices 4 are used to guide the walking direction of the inspection robot. The guide devices 4 include a plurality of symmetrically arranged guide wheels 5, a guide wheel housing 6, a limit deflector 7 and a guide wheel fixture 8. The guide wheel fixture 8 is installed at the bottom end of the base plate 2. The limit deflector 7 is sleeved on the outside of the guide wheel fixture 8. The guide wheels 5 are installed on both sides of the limit deflector 7, and the guide wheels 5 are rotatably connected to the limit deflector 7. The guide wheel housing 6 is sleeved on the outside of the guide wheels 5, and the guide wheel housing 6 is fixedly connected to the outsides of both ends of the limit deflector 7.

[0036] The shell connection parts of the guide wheel housing 6 are fastened with sealing strips and waterproof screws.

[0037] The guide wheel 5 is a non-slip polyurethane rubber-coated wheel. The guide wheel 5 is connected to the limit steering device 7 by a rotating shaft. A sealing ring is installed at the shaft end of the rotating shaft, and a rubber sealing ring is arranged inside the wheel hub of the guide wheel 5.

[0038] A group of relatively inner side openings of the guide wheel housing 6 are symmetrically arranged, so that the tire of the guide wheel 5 extends out of a portion of the symmetrical position to run under the clamping of the hanging rail 1.

[0039] A housing 9 is provided on the upper part of the substrate 2. A driving device 10, a battery PACK box 22 and a suspension device 11 are provided inside the housing 9. In this embodiment, the battery PACK box 22 may use lithium batteries and graphene batteries in the prior art, etc., to provide power support for the inspection robot;

[0040] The driving device 10 includes a driving housing 12, a waterproof motor, a reducer and a motor control box 13, wherein the driving housing 12 is installed at one end inside the housing 9, the motor control box 13 is installed on the top of the driving housing 12, the waterproof motor and the reducer are installed inside the driving housing 12, and the motor control box 13 is connected to the waterproof motor;

[0041] The waterproof motor and the reducer are connected via a waterproof coupling, and a waterproof packaging treatment is provided on the outside of the waterproof motor.

[0042] The motor control box 13 is connected to the waterproof motor via a waterproof cable. The electronic components of the drive circuit are arranged inside the motor control box 13. The outside of the motor control box 13 is sprayed with a waterproof coating.

[0043] The suspension device 11 is installed inside the housing 9 at one end away from the drive housing 12. The suspension device 11 includes two symmetrically arranged suspension arms 14, two symmetrically arranged springs 15 and a shock-absorbing rubber 16. One end of the spring 15 is connected to the suspension arm 14, and the other end is connected to the shock-absorbing rubber 16. The shock-absorbing rubber 16 is installed inside the housing 9. One end of the suspension arm 14 is connected to the spring 15, and the other end is extended to the outside of the substrate 2. The two symmetrically arranged suspension arms 14 form a symmetrical area, so that the inspection robot is placed at the central axis position of the symmetrical area.

[0044] The suspension device 11 is also provided with a spring fixing frame 18, and the spring fixing frame 18 is used to install the elastic track supporting the spring 15. One end of the spring fixing frame 18 is connected to the inner side of the base plate 2, and the other end is connected to the shock-absorbing rubber 16. The spring fixing frame 18 is sleeved on the outside of the spring 15, and the driving wheel assembly 17 is installed on the side end of the spring fixing frame 18.

[0045] A driving wheel assembly 17 is mounted at one end of the suspension device 11, and the driving wheel assembly 17 is used for the inspection robot to walk;

[0046] The driving wheel assembly 17 includes a driving wheel 19, a driving wheel motor and a driving wheel fixing frame 20. The driving wheel motor is installed inside the driving wheel fixing frame 20, and the shaft of the driving wheel motor is connected to the driving wheel 19 to drive the driving wheel 19 to rotate. The driving wheel 19 is arranged on one side of the spring fixing frame 18, and the driving wheel fixing frame 20 is installed at an end away from the spring fixing frame 18.

[0047] The gimbal 23 is installed at the upper end of the shell 9. The gimbal 18 is used to provide a camera device. The gimbal 23 can adopt equipment in the prior art, such as the Leitu carbon fiber tripod / gimbal.

[0048] The above are only a few embodiments of the present application and do not constitute any form of limitation to the present application. Although the present application is disclosed as above with preferred embodiments, it is not intended to limit the present application. Any technician familiar with the profession, without departing from the scope of the technical solution of the present application, using the technical content disclosed above to make slight changes or modifications are equivalent to equivalent implementation cases and fall within the scope of the technical solution.

Claims

1. A mini waterproof rail-mounted inspection robot walking mechanism, characterized in that: include: A hanging rail (1) is arranged on a working path of the inspection robot, and the hanging rail (1) is used for the inspection robot to walk on a specified path; A base plate (2) for mounting the inspection robot, wherein a signal receiver component (3) is also arranged on the bottom of the base plate (2); At least two guide devices (4) are installed at the bottom end of the base plate (2), the guide device (4) is used to guide the walking direction of the inspection robot, the guide device (4) comprises a plurality of symmetrically arranged guide wheels (5), a guide wheel housing (6), a limit steering device (7) and a guide wheel fixture (8), the guide wheel fixture (8) is installed at the bottom end of the base plate (2), the limit steering device (7) is sleeved on the outside of the guide wheel fixture (8), the guide wheel (5) is installed on both sides of the limit steering device (7), and the guide wheel (5) is rotatably connected to the limit steering device (7), the guide wheel housing (6) is sleeved on the outside of the guide wheel (5), and the guide wheel housing (6) is fixedly connected to the outside of both ends of the limit steering device (7); A housing (9) is arranged on the upper part of the substrate (2), and a driving device (10), a battery PACK box (22) and a suspension device (11) are arranged inside the housing (9); The driving device (10) comprises a driving housing (12), a waterproof motor, a reducer and a motor control box (13); the driving housing (12) is mounted at one end inside the housing (9); the motor control box (13) is mounted on the top of the driving housing (12); the waterproof motor and the reducer are mounted inside the driving housing (12); and the motor control box (13) is connected to the waterproof motor; The suspension device (11) is installed inside the shell (9) at one end away from the drive housing (12), and the suspension device (11) comprises two symmetrically arranged suspension arms (14), two symmetrically arranged springs (15) and a shock-absorbing rubber (16), one end of the spring (15) is connected to the suspension arm (14), and the other end is connected to the shock-absorbing rubber (16), and the shock-absorbing rubber (16) is installed inside the shell (9), one end of the suspension arm (14) is connected to the spring (15), and the other end is connected to the outer side of the substrate (2), and the two symmetrically arranged suspension arms (14) form a symmetrical area, so that the inspection robot is placed at the central axis position of the symmetrical area; A driving wheel assembly (17) is mounted on one end of the suspension device (11), and the driving wheel assembly (17) is used for the inspection robot to walk; A pan / tilt platform (23) is mounted on the upper end of the housing (9), and the pan / tilt platform (18) is used to provide a camera device.

2. The mini waterproof rail-mounted inspection robot walking mechanism according to claim 1 is characterized in that: The waterproof motor and the reducer are connected via a waterproof coupling, and a waterproof packaging treatment is provided on the outside of the waterproof motor.

3. The mini waterproof rail-mounted inspection robot walking mechanism according to claim 2 is characterized in that: The motor control box (13) is connected to the waterproof motor via a waterproof cable; electronic components of a drive circuit are arranged inside the motor control box (13); and a waterproof coating is sprayed on the outside of the motor control box (13).

4. The mini waterproof rail-mounted inspection robot walking mechanism according to claim 3 is characterized in that: The signal receiver assembly (3) comprises a signal receiver (30), a connecting member (31) and a bottom plate (32); the bottom plate (32) is connected to the bottom of the substrate (2); one end of the connecting member (31) is provided with the bottom plate (32), and the other end is provided with the signal receiver (3).

5. The mini waterproof rail-mounted inspection robot walking mechanism according to claim 4 is characterized in that: A group of symmetrically arranged guide wheel housings (6) have relatively inner side openings, so that the tires of the guide wheels (5) extend out of a portion of the symmetrical parts to run under the clamping of the hanging rail (1).

6. The mini waterproof rail-mounted inspection robot walking mechanism according to claim 5 is characterized in that: The guide wheel (5) is a non-slip polyurethane rubber-coated wheel. The guide wheel (5) and the position limiting steering device (7) are connected by a rotating shaft. A sealing ring is installed at the shaft end of the rotating shaft, and a rubber sealing ring is arranged inside the wheel hub of the guide wheel (5).

7. The mini waterproof rail-mounted inspection robot walking mechanism according to claim 6 is characterized in that: The shell connection part of the guide wheel housing (6) is fastened with a sealing strip and waterproof screws.

8. The mini waterproof rail-mounted inspection robot walking mechanism according to claim 7 is characterized in that: The suspension device (11) is also provided with a spring fixing frame (18), the spring fixing frame (18) being used to install an elastic track supporting the spring (15), one end of the spring fixing frame (18) being connected to the inner side of the base plate (2), and the other end being connected to the shock absorbing rubber (16), the spring fixing frame (18) being sleeved on the outside of the spring (15), and the driving wheel assembly (17) being installed on the side end of the spring fixing frame (18).

9. The mini waterproof rail-mounted inspection robot walking mechanism according to claim 8 is characterized in that: The driving wheel assembly (17) comprises a driving wheel (19), a driving wheel motor and a driving wheel fixing frame (20); the driving wheel motor is installed inside the driving wheel fixing frame (20); and the shaft of the driving wheel motor is connected to the driving wheel (19) to drive the driving wheel (19) to rotate; the driving wheel (19) is arranged on one side of the spring fixing frame (18); and the driving wheel fixing frame (20) is installed at an end away from the spring fixing frame (18).

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